tf2::TimeCache Class Reference

A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...

#include <time_cache.h>

Inheritance diagram for tf2::TimeCache:

[legend]

List of all members.

Public Member Functions
virtual void	clearList ()
	Clear the list of stored values.
virtual bool	getData (ros::Time time, TransformStorage &data_out, std::string *error_str=0)
	Virtual methods.
virtual P_TimeAndFrameID	getLatestTimeAndParent ()
	Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.
virtual ros::Time	getLatestTimestamp ()
	Get the latest timestamp cached.
virtual unsigned int	getListLength ()
	Debugging information methods.
virtual ros::Time	getOldestTimestamp ()
	Get the oldest timestamp cached.
virtual CompactFrameID	getParent (ros::Time time, std::string *error_str)
	Retrieve the parent at a specific time.
virtual bool	insertData (const TransformStorage &new_data)
	Insert data into the cache.
	TimeCache (ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME))
Static Public Attributes
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL
	default value of 10 seconds storage
static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory.
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below.
Private Types
typedef std::list < TransformStorage >	L_TransformStorage
Private Member Functions
uint8_t	findClosest (TransformStorage *&one, TransformStorage *&two, ros::Time target_time, std::string *error_str)
	A helper function for getData.
void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)
void	pruneList ()
Private Attributes
ros::Duration	max_storage_time_
L_TransformStorage	storage_

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Detailed Description

A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time.

Definition at line 94 of file time_cache.h.

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Member Typedef Documentation

typedef std::list<TransformStorage> tf2::TimeCache::L_TransformStorage [private]

Definition at line 119 of file time_cache.h.

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Constructor & Destructor Documentation

TimeCache::TimeCache

(

ros::Duration

max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME)

)

Definition at line 57 of file cache.cpp.

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Member Function Documentation

void TimeCache::clearList

(

)

[virtual]

Clear the list of stored values.

Implements tf2::TimeCacheInterface.

Definition at line 261 of file cache.cpp.

uint8_t TimeCache::findClosest	(	TransformStorage *&	one,
		TransformStorage *&	two,
		ros::Time	target_time,
		std::string *	error_str
	)			[inline, private]

A helper function for getData.

Definition at line 93 of file cache.cpp.

bool TimeCache::getData	(	ros::Time	time,
		TransformStorage &	data_out,
		std::string *	error_str = 0
	)			[virtual]

Virtual methods.

Implements tf2::TimeCacheInterface.

Definition at line 189 of file cache.cpp.

P_TimeAndFrameID TimeCache::getLatestTimeAndParent

(

)

[virtual]

Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.

Implements tf2::TimeCacheInterface.

Definition at line 271 of file cache.cpp.

ros::Time TimeCache::getLatestTimestamp

(

)

[virtual]

Get the latest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 282 of file cache.cpp.

unsigned int TimeCache::getListLength

(

)

[virtual]

Debugging information methods.

Implements tf2::TimeCacheInterface.

Definition at line 266 of file cache.cpp.

ros::Time TimeCache::getOldestTimestamp

(

)

[virtual]

Get the oldest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 288 of file cache.cpp.

CompactFrameID TimeCache::getParent	(	ros::Time	time,
		std::string *	error_str
	)			[virtual]

Retrieve the parent at a specific time.

Implements tf2::TimeCacheInterface.

Definition at line 222 of file cache.cpp.

bool TimeCache::insertData

(

const TransformStorage &

new_data

)

[virtual]

Insert data into the cache.

Implements tf2::TimeCacheInterface.

Definition at line 236 of file cache.cpp.

void TimeCache::interpolate	(	const TransformStorage &	one,
		const TransformStorage &	two,
		ros::Time	time,
		TransformStorage &	output
	)			[inline, private]

Definition at line 167 of file cache.cpp.

void TimeCache::pruneList

(

)

[private]

Definition at line 294 of file cache.cpp.

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Member Data Documentation

const int64_t tf2::TimeCache::DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL [static]

default value of 10 seconds storage

Definition at line 99 of file time_cache.h.

const unsigned int tf2::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000 [static]

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 98 of file time_cache.h.

ros::Duration tf2::TimeCache::max_storage_time_ [private]

Definition at line 122 of file time_cache.h.

const int tf2::TimeCache::MIN_INTERPOLATION_DISTANCE = 5 [static]

Number of nano-seconds to not interpolate below.

Definition at line 97 of file time_cache.h.

L_TransformStorage tf2::TimeCache::storage_ [private]

Definition at line 120 of file time_cache.h.

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The documentation for this class was generated from the following files:

• time_cache.h
• cache.cpp